An experimental system of mobile robot´s self-localization based on WSN

Author

Peng, Chao ; Meng, Max Q H ; Liang, Huawei

Author_Institution

Inst. of Intell. Machines, Chinese Acad. of Sci., Hefei, China

fYear

2009

fDate

5-7 Aug. 2009

Firstpage

1029

Lastpage

1034

Abstract

Mobile robot´s self-localization is an important part of robot technology research. This paper first briefly introduces several main methods of mobile robot´s localization, and RSSI (received signal strength indicator) ranging principle. Then it proposes an experimental system which is used for mobile robot´s localization based on wireless sensor network (WSN), and describes the experimental system´s structure in detail. According to outdoor experiments, it proves that the system operates perfectly. Based on the experimental results, we provide some suggestions for improving the localization algorithm, facilitating further algorithm research.

Keywords

mobile robots; path planning; wireless sensor networks; RSSI ranging principle; localization algorithm; mobile robot; received signal strength indicator ranging principle; robot technology; self-localization; wireless sensor network; Costs; Global Positioning System; Intelligent robots; Mobile robots; Radio navigation; Robot localization; Robot sensing systems; Robotics and automation; Sensor phenomena and characterization; Wireless sensor networks; CC2431; Experimental System; RSSI; Self-Localization; WSN;

fLanguage

English

Publisher

ieee

Conference_Titel

Automation and Logistics, 2009. ICAL '09. IEEE International Conference on

Conference_Location

Shenyang

Print_ISBN

978-1-4244-4794-7

Electronic_ISBN

978-1-4244-4795-4

Type

conf

DOI

10.1109/ICAL.2009.5262571

Filename

5262571